Multirobot System to Explore Unknown Environment with Connection Maintenance

Table 5

The exploration time and path length for the exploration methods with and without the frontier selection approach on the random obstacle environments.

Obstacle density	Without frontier selection		With frontier selection
	Path length	Exploration time (seconds)	Path length	Exploration time (seconds)
0%	690	980	340	486
25%	477	1700	240	840
75%	384	2300	180	1250